CN108301628B - Wall-laying device based on BIM technology - Google Patents

Abstract

The invention provides a wall-laying device based on BIM technology, and mainly relates to the field of building informationization. The wall-laying device based on BIM technology includes a base, a frame is set on the top of the base, first screw rods are set on both sides of the frame, first screw sleeves are set on the two first screw rods, and two first screw rods are set on the two first screw rods. A platform is arranged between the screw sleeves, a sliding shaft is arranged on the top of the platform, a second screw rod is arranged parallel to one side of the sliding shaft, a second screw sleeve is arranged on the second screw rod, and a mounting platform is arranged on the top of the second screw sleeve, A slideway is arranged at the bottom of the installation platform, and a manipulator is arranged at the top of the installation platform, and the wall-laying device based on BIM technology also includes a console. The beneficial effect of the present invention is that: the present invention can replace manpower when building relatively low walls, save a large amount of consumption of manpower and material resources, improve work efficiency, and ensure the smooth progress of the project.

Description

Wall-laying device based on BIM technology

technical field

The invention mainly relates to the field of building informatization, in particular to a wall-laying device based on BIM technology.

Background technique

BIM (Building Information Modeling) is not just a simple integration of digital information, but an application of digital information, which can be used for digital methods of design, construction and management. The building information model is based on the relevant information data of the construction project, simulates the real information of the building through digital information simulation, and realizes project supervision, property management, equipment management, digital processing and engineering through the three-dimensional building model. Management and other functions, it has eight characteristics of information completeness, information relevance, information consistency, visualization, coordination, simulation, optimization and graphing. It facilitates project visualization and fine-grained construction. During the building construction process, through the digital processing of BIM technology, the equipment can be programmed and controlled through the building data in the model, so that machinery can replace manpower as much as possible. In the construction of building walls, the use of manpower is relatively common. The construction of walls is completed through the fine stacking of workers. This intensive human labor requires a lot of manpower and material resources, and the efficiency is low.

Contents of the invention

In order to solve the deficiencies of the prior art, the present invention provides a wall-laying device based on BIM technology, which can replace manpower when building lower walls, save a large amount of manpower and material resources, improve work efficiency, and ensure the smooth progress of the project.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

The wall-laying device based on BIM technology includes a base, a frame is set on the top of the base, first screws are set on both sides of the frame, the first screw is connected to the frame bearing, a first motor is set on the base, and the A first transmission device is arranged between the first motor and the two first screw rods, a first screw sleeve is arranged on the two first screw rods, a platform is arranged between the two first screw sleeves, and the platform is connected to the first screw sleeve. The base is parallel, a sliding shaft is arranged on the top of the platform, and a second screw is arranged parallel to one side of the sliding shaft, and the second screw is connected to the platform bearing, and a second motor is arranged on the platform, and the second motor is connected to the second A second transmission device is arranged between the screws, a second screw sleeve is arranged on the second screw rod, a mounting platform is provided on the top of the second screw sleeve, a slideway is provided at the bottom of the installation platform, and the slideway is slidably connected with the sliding shaft , a manipulator is set on the top of the installation table, a bracket is set on the top of the base, a conveyor belt is set on the bracket, a storage platform is set at one end of the conveyor belt close to the frame, and a first push rod is set at the side of the storage platform close to the conveyor belt, A second push rod is provided on the side adjacent to the first push rod on the storage table, a first cylinder is provided at the tail ends of the first push rod and the second push rod, and a first smearing device is provided at the bottom of the storage table. A second smearing device is arranged on the side opposite to the second push rod on the storage table, and the wall-laying device based on BIM technology also includes a console, and the first motor, the second motor and the manipulator are all connected to the console wires, so An air guide tube is arranged between the first cylinder and the console.

The storage table is a grid storage table, and a gap is set on the side of the storage table away from the first push rod, and the gap is adapted to the manipulator.

Both the first smearing device and the second smearing device include a smearing nozzle, the smearing nozzle is adapted to the storage table, a conduit is arranged on the smearing nozzle, and a pump body is arranged at the end of the conduit away from the smearing nozzle, and the pump body is connected to the smearing nozzle. Console wire connection.

The conveyor belt includes a rotating roller and a belt body, a third motor is arranged on the support, a third transmission device is arranged between the third motor and the rotating roller, the third motor is connected to the console wire, and the belt Baffles are arranged on the brackets on both sides of the body, and a chute is set at one end of the bracket close to the storage table, a slide plate is set in the chute, a second cylinder is set on one side of the slide plate, and the second cylinder and the console pass through the guide Tracheal connection.

A guide wheel is arranged at the bottom of the base, a fourth motor is arranged on the base, a fourth transmission device is arranged between the fourth motor and the guide wheel, and a guide rail is arranged at the bottom of the guide wheel, and the guide rail is adapted to the guide wheel.

Compared with prior art, the beneficial effects of the present invention are:

1. In the present invention, the console controls the first screw and the second screw to drive the installation table to move, so that the installation table can move in the up, down, left, and right directions. The manipulator grabs the bricks on the storage table under the control of the console, and then completes The whole process of building walls does not require human intervention, which can save a lot of manpower and material resources, improve work efficiency, and ensure the smooth progress of the project.

2. The grid-shaped storage table of the present invention is convenient for the first applicator and the second applicator to apply adhesive on the bricks, and the mechanized operation can reduce the use of labor and save manpower and material resources.

3. Both the first applicator and the second applicator of the present invention control the pump body to spray the adhesive through the console, which can effectively replace labor and save manpower and material resources.

4. Through the intermittent cooperation of the slide plate and the conveyor belt, the present invention ensures that one brick is delivered to the storage table each time under the control of the console, ensuring that the grabbing action of the manipulator goes smoothly, effectively replacing manual labor, saving manpower and material resources, and improving work efficiency. efficiency.

5. A guide wheel is provided at the bottom of the base of the present invention, and the guide wheel cooperates with the guide rail to facilitate the movement of the device and speed up the working efficiency.

Description of drawings

Accompanying drawing 1 is the structural representation of front view of the present invention;

Accompanying drawing 2 is the structural representation of top view of the present invention;

Accompanying drawing 3 is the schematic diagram of partial enlarged structure of part A of the present invention;

Accompanying drawing 4 is the schematic diagram of partial enlarged structure of part B of the present invention;

Accompanying drawing 5 is the partial enlarged structural diagram of part C of the present invention.

Numbers shown in the accompanying drawings: 1. base; 2. frame; 3. first screw; 4. first motor; 5. first transmission; 6. first screw sleeve; 7. platform; 8. sliding shaft; 9. The second screw; 10. The second motor; 11. The second transmission device; 12. The second screw sleeve; 13. The installation platform; 14. The slideway; 15. The manipulator; 16. The bracket; 17. The conveyor belt; 18 , storage table; 19, first push rod; 20, second push rod; 21, first cylinder; 22, first smearing device; 23, second smearing device; 24, console; 25, gap; 26, smearing Nozzle; 27, pump body; 28, rotating roller; 29, belt body; 30, third motor; 31, third transmission device; 32, baffle plate; 33, chute; 34, slide plate; 35, second cylinder; 36, guide wheel; 37, the fourth motor; 38, the fourth transmission device; 39, guide rail.

Detailed ways

The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined in the present application.

As shown in Figures 1-5, the wall-laying device based on BIM technology of the present invention includes a base 1, a frame 2 is set on the top of the base 1, and first screw rods 3 are set on both sides of the frame 2, and the first The screw rod 3 is connected with the bearing of the frame 2, the first motor 4 is arranged on the base 1, and the first transmission device 5 is arranged between the first motor 4 and the two first screw rods 3, and the first motor passes through the first The transmission device drives the two first screw rods to rotate synchronously. A first screw sleeve 6 is arranged on the two first screw rods 3, and a platform 7 is arranged between the two first screw sleeves 6. The platform 7 is parallel to the base 1, and the platform is between the first screw rod and the second screw sleeve. Under the cooperation of a screw sleeve, it moves in the up and down direction. A slide shaft 8 is arranged on the top of the platform 7, and a second screw 9 is arranged parallel to one side of the slide shaft 8, and the second screw 9 is bearing-connected to the platform 7, and a second motor 10 is arranged on the platform 7, and the second screw 9 is arranged on the platform 7. The second transmission device 11 is arranged between the second motor 10 and the second screw rod 9, and the second motor drives the second screw rod to rotate through the second transmission device, and the second screw sleeve 12 is arranged on the second screw rod 9, and the first The top of the two screw sleeves 12 is provided with a mounting table 13, and the bottom of the mounting table 13 is provided with a slideway 14. The slideway 14 is slidably connected with the slide shaft 8, and the mounting table is driven by the cooperation of the second screw rod and the second screw sleeve. The installation table runs left and right. A manipulator 15 is arranged on the top of the installation platform 13, and the manipulator is a 6-degree-of-freedom engineering manipulator, and the manipulator realizes the grabbing and stacking operations of bricks. A support 16 is provided on the top of the base 1, a conveyor belt 17 is provided on the support 16, and a storage platform 18 is provided at one end of the conveyor belt 17 near the frame 2, and the conveyor belt transports neatly stacked bricks to the storage platform in sequence. The storage table 18 is provided with a first push rod 19 near the side of the conveyor belt 17, and a second push rod 20 is provided on the side adjacent to the first push rod 19 on the described storage table 18, and the first push rod 19 and the second push rod 19 The tail ends of the two push rods 20 are all provided with a first cylinder 21, and the first push rod and the second push rod push the bricks to be positioned, which is convenient for the grasping of the manipulator. The first smearing device 22 is arranged at the bottom of the storage platform 18, and the second smearing device 23 is arranged on the side opposite to the second push rod 20 on the storage platform 18. and one end for the application of adhesive. The wall-laying device based on BIM technology also includes a console 24, the first motor 4, the second motor 10 and the manipulator 15 are all connected to the console 24 by wires, and an air duct is arranged between the first cylinder 21 and the console 24 . The console controls the rotation of the first screw rod and the second screw rod, thereby controlling the position of the manipulator, and the manipulator completes the fixed-point stacking of bricks under the control of the console. The operation of the whole process does not require human intervention, which can save a lot of consumption of manpower and material resources, improve work efficiency, and ensure the smooth progress of the project.

Further, the storage table 18 is a grid storage table, and the side of the storage table 18 away from the first push rod 19 is provided with a gap 25, and the gap 25 is convenient for the manipulator 15 to grab the bricks. The storage table is convenient for the first smearing device and the second smearing device to smear the adhesive on the bricks, and the mechanized operation can reduce the use of labor and save manpower and material resources.

Further, the first smearing device 22 and the second smearing device 23 both include a smearing nozzle 26, the smearing nozzle 26 corresponds to the storage table 18, and a conduit is arranged on the smearing nozzle 26, and the conduit is far away from the smearing nozzle 18 A pump body 27 is arranged at one end, and the pump body 27 is connected with the console 24 by wires. Both the first applicator and the second applicator control the pump body to spray the adhesive through the console, which can effectively replace labor and save manpower and material resources.

In order to improve work efficiency, the conveyor belt 17 includes a rotating roller 28 and a belt body 29, a third motor 30 is arranged on the support 16, and a third transmission device 31 is arranged between the third motor 30 and the rotating roller 28, so The third motor 30 is connected with the console 24 by wires, and the console controls the rotation of the motor to drive the belt body to step. A baffle plate 32 is all set on the bracket 16 on both sides of the belt body 29, and the baffle plate limits the bricks on the belt body, and the support 16 is provided with a chute 33 near one end of the storage table 18, and the chute 33 A slide plate 34 is arranged inside the slide plate 33, and a second air cylinder 35 is arranged on one side of the slide plate 34, and the second air cylinder 35 is connected with the console 24 through an air duct. The intermittent cooperation of the sliding plate and the conveyor belt ensures that one brick is delivered to the storage table at a time under the control of the console, ensuring the smooth progress of the grabbing action of the manipulator, effectively replacing manual labor, saving manpower and material resources, and improving work efficiency.

In order to facilitate the movement of the device, a guide wheel 36 is arranged at the bottom of the base 1, a fourth motor 37 is arranged on the base 1, and a fourth transmission device 38 is arranged between the fourth motor 37 and the guide wheel 36. A guide rail 39 is arranged at the bottom of the wheel 36, and the guide rail 39 cooperates with the guide wheel 36 to facilitate the movement of the device and speed up the work efficiency.

Example:

The wall-laying device based on BIM technology includes a base 1, and the base is made of metal material. In this embodiment, the bottom of the base 1 is provided with guide wheels 36, and the guide wheels are provided with two pairs. The guide wheels of each team pass through the rotating shaft and The base bearing is connected, the fourth motor 37 is fixed by bolts on the base 1, and the fourth transmission device 38 is arranged between the fourth motor 37 and the rotating shafts of the pair of guide wheels 36. In this embodiment, the fourth motor and the guide wheels The rotating shaft is driven by a belt, and a guide rail 39 is arranged at the bottom of the guide wheel 36 , the guide rail is similar to a rail, and the guide rail is fixed on the ground, and the guide wheel 36 can rotate on the guide rail 39 . A frame 2 is arranged on the top of the base 1, and the frame and the base can be welded or bolted, and bolted is used in this embodiment. Both sides of the frame 2 are provided with first screw rods 3, the first screw rods 3 are bearing-connected to the frame 2, the first motor 4 is fixed with bolts on the base 1, and the first motor 4 is connected to the two first screw rods 3 The first transmission device 5 is arranged between them. In this embodiment, the bearing on the base is connected to the transmission shaft, and both ends of the transmission shaft are keyed to the first bevel gear. Two bevel gears, the first bevel gear meshes with the second bevel gear one by one, and the first motor and the transmission shaft are driven by one-stage gear transmission. First screw sleeves 6 are all arranged on the two first screw rods 3, and the screw sleeves can be tightened and unscrewed on the first screw rods, and the platform 7 is bolted between the two first screw sleeves 6, so that The platform 7 is parallel to the base 1, the top of the platform 7 is bolted to fix the sliding shaft 8, and one side of the sliding shaft 8 is provided with a second screw 9 in parallel, and the second screw is connected to the shaft seat bearing on the top surface of the platform. A second motor 10 is fixed on the platform 7 with bolts, and a second transmission device 11 is arranged between the second motor 10 and the second screw 9. In this embodiment, the second motor and the second screw are driven by a gear. A second screw sleeve 12 is arranged on the second screw rod 9, and the second screw sleeve can move linearly under the drive of the second screw rod. The top of the second screw sleeve 12 is bolted to a mounting platform 13, and the mounting platform 13 A slideway 14 is provided at the bottom, and the slideway 14 is slidably connected with the slide shaft 8. A manipulator 15 is provided at the top of the mounting table 13, and an embedded computer is arranged in the manipulator. The embedded computer described in this embodiment is a PC104 embedded computer. The manipulator adopts a 6-degree-of-freedom engineering manipulator. In this embodiment, the manipulator includes a waist revolving joint, a shoulder revolving joint, an elbow revolving joint, a wrist revolving joint, a pawl revolving joint and a paw opening and closing joint. The manipulator described in this embodiment Two cameras are installed on the forearm to act as binoculars. Bolts on the top of the base 1 fix the bracket 16, and a conveyor belt 17 is arranged on the bracket 16, and a storage table 18 is provided at one end of the conveyor belt 17 near the frame 2, and the storage table is fixed with the base bolts. The conveyor belt 17 includes a rotating roller 28 and a belt body 29, the rotating roller is connected with the support bearing, the belt body is a metal belt body, and the inner surface of the belt body is in contact with the rotating roller. The third motor 30 is fixed with bolts on the bracket 16, and the third transmission device 31 is arranged between the third motor 30 and the rotating roller 28. In this embodiment, the third motor and the rotating roller are driven by a first-stage gear, so The bracket 16 on both sides of the belt body 29 is welded with a baffle plate 32, and the bracket 16 is provided with a chute 33 near one end of the storage table 18, and a slide plate 34 is arranged in the chute 33, and the second side of the slide plate 34 is bolted. Cylinder 35. In this embodiment, the storage table 18 is a grid storage table, and a notch 25 is provided on the side of the storage table 18 away from the first push rod 19 , and the notch 25 corresponds to the manipulator 15 . The storage table 18 is provided with a first push rod 19 near the side of the conveyor belt 17, and a second push rod 20 is provided on the side adjacent to the first push rod 19 on the described storage table 18, and the first push rod 19 and the second push rod 19 The tail ends of the two push rods 20 are all bolted to the first cylinder 21, and the ends of the two first cylinders away from the push rods are all bolted to the extension frame of the storage table. The bottom of the storage table 18 is provided with a first application device 22, and the second application device 23 is provided on the side opposite to the second push rod 20 on the storage table 18, and the first application device 22 and the second application device 23 include An applicator nozzle 26 , the applicator nozzle 26 corresponds to the storage table 18 , a conduit is arranged on the applicator nozzle 26 , and the end of the conduit away from the applicator nozzle 18 is threadedly connected to the pump body 27 . The wall-laying device based on BIM technology also includes a console 24. In this embodiment, the console includes an electrical box and a computer. On-off of the source, the first motor 4, the second motor 10, the third motor 30, the fourth motor 37, the pump body 27 and the manipulator 15 are all connected with the electric box wire of the console 24, and the first cylinder 21 1. An air duct is set between the second cylinder 35 and the electric box of the console 24. The camera on the manipulator is connected with the computer signal to form a stereo vision system. The subsystem calculates the three-dimensional coordinates of the target object in the camera coordinate system through two two-dimensional images, and converts them into three-dimensional coordinates in the robot coordinate system, and then sends the signal to the embedded computer in the manipulator. The computer controls the manipulator to grab the bricks and place the bricks neatly to complete the wall-building operation. When this embodiment is working, the computer controls the operation of the first motor and the second motor, drives the manipulator to run to the set position where bricks can be picked up, and then the computer controls the stepping of the third motor, and controls the second cylinder to open the slide plate. Make a brick fall onto the placement platform, then control the second cylinder to reverse action to close the baffle, and then the computer controls the two first cylinders to move in sequence to push the brick to a fixed position on the placement platform, and control the pump body to run and spray Adhesive is applied to the bottom and one side of the brick, and then the manipulator is controlled to pick up the brick with the assistance of the stereo vision system. The computer controls the first motor and the second motor to move to the appropriate position, and the manipulator will grab the brick Superimposed to the position where bricklaying is required, the computer controls the rotation angles of the first motor and the second motor to increase regularly, so as to realize the bricklaying operation. After a section of the wall is completed, the computer controls the operation of the fourth motor to move the device to the next section. The beneficial effect of this embodiment is that this embodiment can replace manpower when building a lower wall, save a lot of consumption of manpower and material resources, improve work efficiency, and ensure the smooth progress of the project.

Claims (3)

1. BIM technology-based wall building device comprises a base (1), and is characterized in that: the top of the base (1) is provided with a frame (2), two sides of the frame (2) are provided with first screw rods (3), the first screw rods (3) are connected with the frame (2) through bearings, the base (1) is provided with a first motor (4), a first transmission device (5) is arranged between the first motor (4) and the two first screw rods (3), the two first screw rods (3) are provided with first screw sleeves (6), a platform (7) is arranged between the two first screw sleeves (6), the platform (7) is parallel to the base (1), the top of the platform (7) is provided with a sliding shaft (8), the sliding shaft (8) is provided with a second screw (9) on one side in parallel, the second screw (9) is connected with a bearing of the platform (7), the platform (7) is provided with a second motor (10), a second transmission device (11) is arranged between the second motor (10) and the second screw (9), the second screw (9) is provided with a second screw sleeve (12), the top of the second screw sleeve (12) is provided with an installation table (13), the bottom of the installation table (13) is provided with a slide way (14), the slide way (14) is in sliding connection with the sliding shaft (8), the top of the installation table (13) is provided with a manipulator (15), the automatic wall building device is characterized in that a support (16) is arranged at the top of the base (1), a conveying belt (17) is arranged on the support (16), a storage table (18) is arranged at one end, close to the frame (2), of the conveying belt (17), a first push rod (19) is arranged at one side, close to the conveying belt (17), of the storage table (18), a second push rod (20) is arranged at one side, adjacent to the first push rod (19), of the storage table (18), first air cylinders (21) are arranged at the tail ends of the first push rod (19) and the second push rod (20), a first smearing device (22) is arranged at the bottom of the storage table (18), a second smearing device (23) is arranged at the side, opposite to the second push rod (20), of the storage table (18), a control console (24) is further included in a wall building device based on BIM technology, a first motor (4), a second motor (10) and a manipulator (15) are connected with the control console (24) through wires, and an air duct is arranged between the first air cylinders (21) and the control console (24);

the storage table (18) is a grid storage table, a notch (25) is arranged on one side, far away from the first push rod (19), of the storage table (18), and the notch (25) is adapted to the manipulator (15); the first smearing device (22) and the second smearing device (23) comprise smearing nozzles (26), the smearing nozzles (26) are matched with the object placing table (18), a guide pipe is arranged on the smearing nozzles (26), one end, far away from the smearing nozzles (26), of the guide pipe is provided with a pump body (27), and the pump body (27) is connected with a guide wire of the control console (24).

2. The wall building device based on the BIM technology according to claim 1, wherein: the conveyer belt (17) comprises a rotating roller (28) and a belt body (29), a third motor (30) is arranged on the support (16), a third transmission device (31) is arranged between the third motor (30) and the rotating roller (28), the third motor (30) is connected with a guide wire of the control console (24), baffles (32) are arranged on the support (16) on two sides of the belt body (29), a sliding groove (33) is formed in one end, close to the object placing table (18), of the support (16), a sliding plate (34) is arranged in the sliding groove (33), a second air cylinder (35) is arranged on one side of the sliding plate (34), and the second air cylinder (35) is connected with the control console (24) through an air guide pipe.

3. The wall building device based on the BIM technology according to claim 1, wherein: the novel automatic transmission device is characterized in that a guide wheel (36) is arranged at the bottom of the base (1), a fourth motor (37) is arranged on the base (1), a fourth transmission device (38) is arranged between the fourth motor (37) and the guide wheel (36), a guide rail (39) is arranged at the bottom of the guide wheel (36), and the guide rail (39) is adaptive to the guide wheel (36).

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